Concept 2: Waste Retrieval System Deployment Sequence

drawings 1-4 show four steps of deploying a relatively short RoboCrane octahedral gantry, the mast and EMMA using a luffing crane. Figure 5 shows RoboCrane cable travel speeds and load calculations. Figure 6 shows approximate dimensions of the RoboCrane gantry. Figure 7 shows the complete system deploying the EMMA. Figure 8 shows a more conventional platform over the tank and deploying the EMMA into the tank.